Struct openrr_apps::RobotConfig

#[non_exhaustive]
pub struct RobotConfig {

    pub joint_trajectory_clients: Option<Vec<String>>,
    pub speakers: Option<Vec<String>>,
    pub localization: ClientKind,
    pub move_base: ClientKind,
    pub navigation: ClientKind,
    pub ros_clients_configs: Vec<RosControlClientConfig>,
    pub ros_action_clients_configs: Vec<RosControlActionClientConfig>,
    pub urdf_viz_clients_configs: Vec<UrdfVizWebClientConfig>,
    pub speak_configs: HashMap<String, SpeakConfig>,
    pub ros_cmd_vel_move_base_client_config: Option<RosCmdVelMoveBaseConfig>,
    pub ros_navigation_client_config: Option<RosNavClientConfig>,
    pub ros_localization_client_config: Option<RosLocalizationClientConfig>,
    pub openrr_clients_config: OpenrrClientsConfig,
    pub openrr_tracing_config: OpenrrTracingConfig,
    pub plugins: HashMap<String, PluginConfig>,
}

Fields (Non-exhaustive)

Non-exhaustive structs could have additional fields added in future. Therefore, non-exhaustive structs cannot be constructed in external crates using the traditional Struct { .. } syntax; cannot be matched against without a wildcard ..; and struct update syntax will not work.

joint_trajectory_clients: Option<Vec<String>>

Joint trajectory clients to be used.

speakers: Option<Vec<String>>

Speakers to be used.

localization: ClientKind

Localization to be used. "ros", "urdf-viz", false, or plugin instance name.

move_base: ClientKind

MoveBase to be used. "ros", "urdf-viz", false, or plugin instance name.

navigation: ClientKind

Navigation to be used. "ros", "urdf-viz", false, or plugin instance name.

ros_clients_configs: Vec<RosControlClientConfig>

ros_action_clients_configs: Vec<RosControlActionClientConfig>

urdf_viz_clients_configs: Vec<UrdfVizWebClientConfig>

speak_configs: HashMap<String, SpeakConfig>

ros_cmd_vel_move_base_client_config: Option<RosCmdVelMoveBaseConfig>

ros_navigation_client_config: Option<RosNavClientConfig>

ros_localization_client_config: Option<RosLocalizationClientConfig>

openrr_clients_config: OpenrrClientsConfig

openrr_tracing_config: OpenrrTracingConfig

plugins: HashMap<String, PluginConfig>

Implementations

impl RobotConfig

pub fn has_ros_clients(&self) -> bool

Returns true if ros-related configs exist, or it is explicitly specified that the ros client is to be used.

This is always false when ros feature is disabled.

pub fn create_robot_client<L, M, N>( &self, ) -> Result<RobotClient<L, M, N>, Error>

where L: Localization + From<Box<dyn Localization>>, M: MoveBase + From<Box<dyn MoveBase>>, N: Navigation + From<Box<dyn Navigation>>,

impl RobotConfig

pub fn new<P: AsRef<Path>>(path: P) -> Result<Self, Error>

pub fn from_str<P: AsRef<Path>>(s: &str, path: P) -> Result<Self, Error>

Trait Implementations

impl Clone for RobotConfig

fn clone(&self) -> RobotConfig

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for RobotConfig

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for RobotConfig

fn default() -> RobotConfig

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for RobotConfig

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl JsonSchema for RobotConfig

fn schema_name() -> String

The name of the generated JSON Schema.

fn schema_id() -> Cow<'static, str>

Returns a string that uniquely identifies the schema produced by this type.

fn json_schema(gen: &mut SchemaGenerator) -> Schema

Generates a JSON Schema for this type.

fn is_referenceable() -> bool

Whether JSON Schemas generated for this type should be re-used where possible using the $ref keyword.

impl Serialize for RobotConfig

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.